Imaging optical system, imaging device and imaging system

ABSTRACT

An imaging device includes two imaging optical systems each of the imaging optical systems including a wide-angle lens having an angle of view wider than 180 degrees, and an imaging sensor configured to image an image by the wide-angle lens, so as to obtain an image in a solid angle of 4π radian by synthesizing the images by the respective imaging optical systems, wherein the wide-angle lens of each of the imaging optical systems includes, in order from an object side to an image side, a front group having a negative power, a reflection surface and a back group having a positive power, and is configured to bend an optical axis of the front group by the reflection surface at 90 degrees toward the back group.

CROSS REFERENCE TO RELATED APPLICATION

This application is a continuation of U.S. application Ser. No.14/754,279, filed Jun. 29, 2015, which is a continuation of U.S.application Ser. No. 13/595,490, filed Aug. 27, 2012, which claims thebenefit of priority from Japanese Patent Application No. 2011-188643,filed on Aug. 31, 2011 and Japanese Patent Application No. 2012-121269,filed on May 28, 2012, the contents of which are hereby incorporated byreference in their entirety.

BACKGROUND Field of the Invention

The present invention relates to an imaging optical system, imagingdevice and imaging system.

Description of the Related Art

An omnidirectional imaging device in which two imaging optical systemseach including a wide-angle lens having an angle of view wider than 180degrees and an imaging sensor for imaging an image by the wide-anglelens are combined, and an image by each of the imaging optical systemsis synthesized to obtain an image in a solid angle of 4π radian isconventionally known (refer to Japanese Patent Application PublicationNo. 2010-271675).

Such an omnidirectional imaging device is able to obtain omnidirectionalimage information at one time, so it can be effectively used for amonitoring camera, car-mounted camera or the like. Recently, such anomnidirectional imaging device is required to be downsized so that itcan be used as a portable omnidirectional imaging device.

For example, in the case of coverage, extremely accurate imageinformation can be obtained by using a portable omnidirectional imagingdevice in a handheld state.

In order to achieve a small omnidirectional imaging device, it isnecessary to downsize a wide-angle lens for use in an imaging opticalsystem. It is also necessary for a wide-angle lens to have a reasonableperformance in order to obtain a preferable image. Thus, it is difficultto reduce the number of lenses constituting the wide-angle lens.

Upon a certain amount of increase in the number of lenses constituting awide-angle lens, the entire length of the wide-angle lens is increased.If two wide-angle lenses are combined to be opposite to each other, anon-photographable space where the maximum angle of view light beamsentering in the respective wide-angle lenses do not overlap to eachother is increased unless the angle of view is considerably increased.

If the angle of view is increased for downsizing a wide-angle lens, apart of an incident light beam is blocked by a substrate on which animaging sensor is mounted, so that a part of the substrate isphotographed on an image by the wide-angle lens. Not only an imagingsensor, but also a circuit element for driving the imaging sensor and acircuit element required for electric connection with an external deviceare mounted on the substrate. Consequently, the size of the substrate isinevitably increased larger than the size of the imaging sensor.

Japanese Patent Application Publication No. 2010-271675 does notdisclose a technique relative to vignetting of an incident light beam bysuch a substrate.

SUMMARY

The present invention has been made in view of the above circumstances.An object of the present invention is to effectively solve a problemthat an incident light beam is blocked by a substrate of an imagingoptical system for use in an imaging device, and to provide a smallimaging device and an imaging system.

In order to achieve the above object, one embodiment of the presentinvention provides an imaging device including two imaging opticalsystems each of the imaging optical systems including a wide-angle lenshaving an angle of view wider than 180 degrees, and an imaging sensorconfigured to image an image by the wide-angle lens, so as to obtain animage in a solid angle of 4π radian by synthesizing the images by therespective imaging optical systems, wherein the wide-angle lens of eachof the imaging optical systems includes, in order from an object side toan image side, a front group having a negative power, a reflectionsurface and a back group having a positive power, and is configured tobend an optical axis of the front group by the reflection surface at 90degrees toward the back group, the imaging sensor is provided in asubstrate having a predetermined circuit and a size which is larger thanthat of the imaging sensor, the two imaging optical systems are combinedsuch that the front groups face opposite directions to each other withthe optical axes of the front groups being aligned and the back groupsface opposite directions to each other, where a surface including thealigned optical axes of the front groups of the two wide-angle lenses,which is orthogonal to the optical axis of the back group, is anS-surface, a line which passes through an intermediate point of theoptical axes of the two back groups on the S-surface and is parallel tothe optical axis of the back group is a P-line, and a distance betweenthe optical axes of the two back groups is D and a distance between theS-surface and a substrate surface of the substrate is L, and where anintersection line by combination of conical surfaces formed by maximumangle of view light beams of the wide-angle lenses around the opticalaxes of the front groups of the respective imaging optical systems and aplane parallel to the substrate surface of the substrate is X1 relativeto one wide-angle lens and X2 relative to the other wide-angle lens, thedistances D, L and the size and a shape of the substrate are setaccording to a maximum angle of view F of the wide-angle lens such thatcorner portions of the substrate do not locate outside an areasurrounded by the intersection lines X1, X2.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings are included to provide further understandingof the invention, and are incorporated in and constitute a part of thisspecification. The drawings illustrate embodiments of the invention and,together with the specification, serve to explain the principle of theinvention.

FIGS. 1A, 1B are views each illustrating an omnidirectional imagingdevice in which two imaging optical systems are combined.

FIG. 2 is a view illustrating the arrangement of a substrate.

FIG. 3 is a view illustrating a condition which prevents an imaginglight beam from being blocked by a substrate.

FIG. 4 is a view illustrating an omnidirectional imaging device in whichtwo imaging optical systems are combined.

FIG. 5 is a view illustrating an omnidirectional imaging device in whichtwo imaging optical systems are combined.

FIG. 6 is a spherical aberration view of a wide-angle lens according toExample.

FIG. 7 is a field curvature view of a wide-angle lens according toExample.

FIG. 8 is a coma aberration view of a wide-angle lens according toExample.

FIG. 9 is a view illustrating an OTF feature of a wide-angle lensaccording to Example.

FIG. 10 is a view illustrating an OTF feature of a wide-angle lensaccording to Example.

FIGS. 11A, 11B are views each describing an effect in an omnidirectionalimaging device in which an optical path of a wide-angle lens is bent.

FIG. 12 is a view illustrating one embodiment of an imaging system.

FIG. 13 is a view illustrating another embodiment of an imaging system.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

Hereinafter, embodiments will be described.

FIG. 1A is a view illustrating only a main portion of an omnidirectionalimaging device according to one embodiment.

Two imaging optical systems A0, B0 are combined in this embodiment.

The imaging optical systems A0, B0 are the same (manufactured by thesame specification). For the purpose of simplifying the description, Ais added to the ends of reference numbers for members constituting theimaging optical system A0 and B is added to the ends of referencenumbers for members constituting the imaging optical system B0.Hereinbelow, only the imaging optical system A0 will be described.

The imaging optical system A0 includes a wide-angle lens having an angleof view wider than 180 degrees and an imaging sensor which images animage by the wide-angle lens.

The wide-angle lens of the imaging optical system A0 includes a negativepower front group L1A, a prism PA as a reflection surface and a positivepower back group L2A, and is configured to bend an optical axis AX1A ofthe front group toward the back group L2A by the reflection surface.

Each of the front and back groups L1A, L2A is illustrated by one lens inthe figures for simplifying the description, but each of the front andback groups can include two or more lenses.

The light from the object side enters in the front group L1A, and isreflected by the reflection surface of the prism PA. The optical axis ofthe light is bent at 90 degrees toward the back group L2A. In FIG. 1A,reference number AX2A illustrates the optical axis bent at 90 degrees.This optical axis AX2A is referred to as a back group optical axis. Thelight beam reflected by the reflection surface of the prism PA enters inthe back group L2A along the back group optical axis AX2A, and forms anobject image on a light-receiving surface of an imaging sensor ISA afterpassing through the back group L2A.

The imaging sensor ISA outputs a received object image as image data.

The imaging sensor ISA is provided in a substrate SBA.

The substrate SBA includes a not shown circuit element for driving theimaging sensor ISA and a not shown circuit element required for eclecticconnection with an external device. The size of the substrate SBA islarger than the size of the imaging sensor ISA.

The same two imaging optical systems A0, B0 are combined as illustratedin FIG. 1A.

More specifically, the imaging optical systems A0, B0 are combined suchthat the front groups L1A, L1B face opposite directions to each otherwith the optical axes AX1A, AX1B thereof (front group optical axes)being aligned (the front group L1A of the imaging optical system A0faces the right in FIG. 1A and the front group L1B of the imagingoptical system B0 faces the left in FIG. 1A), and the back groups L2A,L2B face opposite directions to each other with the optical axes AX2A,AX2B thereof being parallel to each other (the back group L2A of theimaging optical system A0 faces up in FIG. 1A and the back group L2B ofthe imaging optical system B0 faces down in FIG. 1A).

The wide-angle lens of the imaging optical system A0 includes an angleof view larger than 180 degrees, so that the set of the maximum angle ofview light beams (light beams entering at the maximum angle of view)entering in the wide-angle lens forms a conical surface LMA with thefront group optical axis AX1A of the imaging optical system A0 as anaxis as illustrated in FIG. 1B.

Similarly, the wide-angle lens of the imaging optical system B0 includesan angle of view larger than 180 degrees, so that the set of the maximumangle of view light beams entering in the wide-angle lens forms aconical surface LMB with the front group optical axis AX1B of theimaging optical system B0 as an axis as illustrated in FIG. 1B.

These conical surfaces LMA, LMB intersect in positions Z1, Z2illustrated in FIG. 1B. Since the front group optical axes AX1A, AX1Bare aligned to each other, the portions where the conical surfaces LMA,LMB intersect are circles with the front group optical axis as a center.The positions Z1, Z2 illustrated in FIG. 1B are points on the circles.

Reference number SF denotes an S-surface including the aligned frontgroup optical axes AX1A, AX1B of the two wide-angle lenses, which isorthogonal to the back group optical axes AX2A, AX2B.

Namely, in FIG. 1B, the S-surface SF is a plane including the alignedfront group optical axes AX1A, AX1B of the two wide-angle lenses, whichis orthogonal to the figure.

In FIG. 1B, a plane SFA illustrates a surface position where thesubstrate SBA in FIG. 1A is provided, and a plane SFB illustrates asurface position where the substrate SBB in FIG. 1A is provided. Theplane SFA is referred to as a substrate surface of the substrate SBA andthe plane SFB is referred to as a substrate surface of the substrateSBB.

The substrate surfaces SFA, SFB are located in symmetric positionsrelative to the S-surface SF.

In FIG. 1B, a length LGA is a length of a region where the substratesurface SFA intersects with the conical surfaces LMA, LMB in the frontgroup optical axis AXA1 direction. Similarly, a length LGB is a lengthof a region where the substrate surface SFB intersects with the conicalsurfaces LMA, LMB in the front group optical axis AXA1 direction, andLGA=LGB.

FIG. 2 is a perspective view illustrating the positional relationship ofthe substrates SBA, SBB as seen in FIG. 1A from above.

The S-surface SF including the aligned front group optical axes AX1A,AX1B of the two wide-angle lenses, which is orthogonal to the back groupoptical axes AX2A, AX2B, is a plane which conforms to the figure.

A line passing through the middle point of the two back group opticalaxes AX2A, AX2B on the S-surface SF and parallel to the back groupoptical axes AX2A, AX2B is a P-line LP.

The back group optical axis AX2A passes through the central portion ofthe light-receiving surface of the imaging sensor ISA and the back groupoptical axis AX2B passes through the central portion of thelight-receiving surface of the imaging sensor ISB.

The distance between the two back group optical axes AX2A, AX2B is D. Asillustrated in FIG. 1B, the distance between the substrate surfaces SFA,SFB of the substrates SBA, SBB and the S-surface SF is L.

In FIG. 1B, the substrate surfaces SFA, SFB virtually cut the conicalsurfaces LMA, LMB parallel to the S-surface SF. This virtually cutsurface intersects with the conical surface LMA at an intersection lineillustrated by X1 in FIG. 2. The intersection line X1 is a parabola.

Similarly, the virtually cut surface intersects with the conical surfaceLMB at an intersection line illustrated by X2 in FIG. 2. Theintersection line X2 is also a parabola. Since the substrate surface SFBis symmetric to the substrate surface SFA and the S-surface SF, theintersection line of the substrate surface SFB and the conical surfacesLMA, LMB is the same as the above intersection lines X1, X2.

Hereinbelow, in FIGS. 2, 3, the intersection lines X1, X2 illustrate theintersection lines of the substrate surfaces SFA, SFB and the conicalsurfaces LMA, LMB (in FIGS. 2, 3, these are overlapped).

In order to prevent object light from being blocked by the substratesSBA, SBB, a rectangle as seen from the direction orthogonal to FIG. 2,which is formed by corner portions C1A, C2A of the substrate SBA on theintersection line X1 side and corner portions C1B, C2B of the substrateSBB on the intersection line X2 side, falls within the area surroundedby the intersection lines X1, X2, and the corner portions C1A, C2A, C1B,C2B do not locate outside the above area.

A condition to achieve the above will be hereinbelow described. FIG. 3is a view illustrating the simplified FIG. 2 and a positionalrelationship between the substrate SBA on which the imaging sensor ISAis mounted and other portions projected on the S-surface SF. For thepurpose of simplifying the description, the substrate SBA is set to arectangular shape and the length thereof is set to 2η and the widththereof is set to ξ.

As illustrated in the figure, the apex of the conical surface LMA is Q1,and the projection length on the S-surface SF from the longitudinal sideof the substrate SBA to the apex O1 is ζ.

Reference number C1A1 in FIG. 3 illustrates a position where the cornerportion C1A of the substrate SBA is projected on the S-surface SF. Inthis case, the distance between the apex Q1 and the position C1A1 Z isas follows.Z=√(η²+ζ²)

The corner portion C1A of the substrate SBA is actually located at theheight L from the S-surface SF as illustrated in FIG. 1B. In this case,it is considered that the corner portion C1A is located on theintersection line X1. This condition is a borderline such that thecorner portion C1A does not locate outside the intersection line X1.

In this case, the corner portion C1A is located on the conical surfaceLMA.

The apex angle of the conical surface LMA becomes as follows where themaximum angle of view of the wide-angle lens of the imaging opticalsystem A0, F>180 degrees.180−(F−180)=360−F (degree)

The half angle of view thereof becomes as follows.180−(F/2)

When the corner portion C1A is located on the intersection line X1, thefollowing equation is established.tan {180−(F/2)}=L/Z=L/√(η²+ζ²)

Accordingly, the condition in which the corner portion C1A does notlocate outside the intersection line X1 is as shown in the followingcondition (1).tan {180−(F/2)}≥L/√(η²+ζ²)  (1)

The same can be said for the corner portion C2A. The positionillustrated by reference number C2A2 in FIG. 3 is a position where thecorner portion C2A of the substrate SBA in FIG. 2 is projected on theS-surface SF.

A distance ζ+G is determined by the specification of the imaging opticalsystem A0 where a distance between the side by the corner portions C1A,C2A and the back group optical axis AX2A of the imaging optical systemA0 is G as illustrated in FIG. 3. G, η, ξ are defined as thespecifications of the substrate SBA, and the distance is defined by thespecification of the substrate SBA. The distance L and the angle of viewF are defined by the specification of the imaging optical system A0.

Therefore, by setting the size and the installation of the substrate SBAto satisfy the above condition (1) according to the specification of theimaging optical system A0, the imaging light beams can be prevented frombeing blocked by the corner portions C1A, C2A of the substrate SBA.

In FIG. 3, reference numbers C3A1, C4A1 illustrate positions where twocorner portions except the corner portions C1A, C2A of the four cornerportions of the substrate SBA are projected on the S-surface SF. Cornerportions corresponding to these are C3A, C4A.

It is necessary for the corner portions C3A, C4A not to locate outsidethe intersection line X2.

A distance between the side end portion connecting the corner portionsC3A, C4A of the substrate SBA and the apex Q2 of the conical surface LMBis as follows in view of the symmetric property of the right and leftdirection in FIG. 3.(ζ+G+D/2)−(ξ−G−D/2)=ζ−ξ+2G+D=χ

By satisfying the following condition (2) in which the amount χ issubstituted into ζ of the condition (1), the corner portions C3A, C4A donot locate outside the intersection line X2.tan {180−(F/2)}≥L/√(η²+χ²)  (2)

This can be basically achieved by adjusting the distance D between theback group optical axes AX2A, AX2B of the imaging optical systems A0,B0.

The substrate SBA is only described in the above description, but thesubstrate SBB has a shape which is the same as that of the substrate SBAand the relationship between the substrate SBB and the conical surfacesLMA, LMB is similar to that of the substrate SBA. Therefore, the samecondition is satisfied for the substrate SBB.

More specifically, the distances D, L and the size and the shape of thesubstrates SBA, SBB are set according to the maximum angle of view F ofthe wide-angle lens such that the corner portions of the substrate donot locate outside the area surrounded by the intersection lines X1, X2.

In the case of actually constituting the omnidirectional imaging device,the two imaging optical systems are housed in a common housing. In thishousing, it is required that the thickness portion be located betweenthe corner portions of the substrates SBA, SBB and the intersectionlines X1, X2.

For this reason, the corner portions of the substrates and theintersection lines include therebetween a room having a thickness of thewall of the housing or more. It is preferable for the thickness to be1.5 mm or more, or more preferably to be about 2 mm.

The condition (1) is set by the inequality expression in view of thisroom.

When the substrate has a size such that the corner portions locateoutside the intersection lines X1, X2, the corner portions can bechamfered for example such that the corner portions do not locateoutside the intersection lines X1, X2.

Hereinafter, a specific embodiment will be described.

FIG. 4 is a view illustrating an omnidirectional imaging device in whichtwo imaging optical systems are combined.

FIG. 4 has reference numbers different from those in FIG. 1 because FIG.4 illustrates the specific embodiment.

A wide-angle lens of one photographing optical system includes sevenlenses L11-L17 and a prism P1. The lenses L11-L13 constitute a frontgroup and the lenses L14-L17 constitute a back group. The prism P1 is aright-angle prism, is provided on an optical axis AX1 of the frontgroup, internally reflects the light beams from the front group towardthe back group and bends the optical axis of the front group at 90degrees toward the back group.

The wide-angle lens constituted by the lenses L11-L17 and the prism P1(hereinafter referred to as a first wide-angle lens) is held in a holderHL1 as a lens barrel, and is integrated in a predetermined positionalrelationship.

A wide-angle lens of the other photographing optical system includesseven lenses L21-L27 and a prism P2. The lenses L21-L23 constitute afront group and the lenses L24-L27 constitute a back group. The prism P2is a right-angle prism, and is provided on the optical axis AX2 of thefront group, internally reflects the light beams from the front grouptoward the back group and bends the optical axis of the front group at90 degrees toward the back group.

The wide-angle lens constituted by the lenses L21-L27 and the prism P2(hereinafter, referred to as a second wide-angle lens) is held in aholder H2 as a lens barrel and is integrated in a predeterminedpositional relationship.

Both of the first and second wide-angle lenses include an angle of viewover 180 degrees, and the imaging light beams enter in the lenses L11,L21 as illustrated in the figure.

Reference numbers PD1, PD2 illustrate imaging sensors, respectively, inFIG. 4. These are similar to the imaging sensors ISA, ISB illustrated inFIG. 1.

The imaging sensor PD1 is provided in a substrate SB1 which is largerthan the imaging sensor and has a predetermined circuit.

The imaging sensor PD1 is positioned such that the optical axis AX3 ofthe back group of the first wide-angle lens passes through the center ofthe light-receiving surface and an image by the first wide-angle lens isimaged on the light-receiving surface.

Similarly, the imaging sensor PD2 is provided in a substrate SB2 whichis larger than the imaging sensor and has a predetermined circuitsystem. The imaging sensor PD2 is positioned such that the optical axisAX4 of the back group of the second wide-angle lens passes through thecenter of the light-receiving surface and the image by the secondwide-angle lens images on the light-receiving surface.

The first wide-angle lens and the second wide-angle lens are arrangedsuch that the front groups face opposite directions to each other (thefront group of the first wide-angle lens group faces the right and thefront group of the second wide-angle lens faces the left in FIG. 4) andthe back groups face opposite directions to each other (the back groupof the first wide-angle lens faces up and the back group of the secondwide-angle lens faces down in FIG. 1).

The front group optical axis AX1 of the first wide-angle lens is locatedon a straight line which is the same as the front group optical axis AX2of the second wide-angle lens. The prisms P1, P2 are combined such thatthe reflection surface portions face each other.

Reference number SP in FIG. 5 illustrates a spacer which maintains thespace between the first and second wide-angle lenses.

The first and second wide-angle lenses have the same constitution andthe same specification, and have the same maximum angle of view F.

A distance between the incident position of the incident light beam ofthe maximum angle of view and the back group optical axis AX3 in theplane (plane in FIG. 4) made by the front group optical axis AX1 and theback group optical axis AX3 of the first wide-angle lens is a1 asillustrated in FIG. 4.

A distance between the incident position of the incident light beam ofthe maximum angle of view and the imaging sensor PD1, which is parallelto the back group optical axis AX3, is b1 as illustrated in FIG. 4.

A distance between the center of the imaging sensor PD1 and the endportion of the substrate SB1 on the front group side is c1 asillustrated in FIG. 4.

Similarly, a distance between the incident position of the incidentlight beam of the maximum angle of view and the back group optical axisAX4 in the plane made by the front group optical axis AX2 and the backgroup optical axis AX4 of the second wide-angle lens is a3 asillustrated in FIG. 4.

A distance between the incident position of the incident light beam ofthe maximum angle of view and the imaging sensor PD2, which is parallelto the back group optical axis AX4, is b3 as illustrated in FIG. 4.

A distance between the center of the imaging sensor PD2 and the endportion of the substrate SB2 on the front group side is c3 asillustrated in FIG. 4.

FIG. 5 is a view illustrating the condition in FIG. 4 as seen from theabove and the relationship of the front group lens L11, the front groupoptical axis AX1, the back group optical axis AX3, and the substrateSB1, and also the relationship of the front group lens L21, the frontgroup optical axis AX2, the back group optical axis AX4, and thesubstrate SB2. A part of the substrate SB2 is the shade of the substrateSB1.

A distance between the front group optical axis AX1 and the incidentposition of the incident light beam at the maximum angle of view in thefirst wide-angle lens is P1, a distance from the incident position ofthe incident light beam at the maximum angle of view to the end portionof the substrate SB1 on the front group side, which is parallel to thefront group optical axis AX1 is q1, and a distance from the center(corresponding to the position of the back group optical axis AX3) ofthe imaging sensor on the substrate SB1 to the end portion of thesubstrate SB1, which is parallel to the direction orthogonal to thefront group optical axis AX1 of the substrate SB1, is r1.

Similarly, a distance between the front group optical axis AX2 and theincident position of the incident light beam at the maximum angle ofview in the second wide-angle lens is P3, a distance from the incidentposition of the incident light beam at the maximum angle of view to theend portion of the substrate SB1 on the lens L21 side, which is parallelto the front group optical axis AX2 is q3, and a distance from thecenter (corresponding to the position of the back group optical axisAX4) of the imaging sensor on the substrate SB2 to the end portion ofthe substrate SB2, which is parallel to the direction orthogonal to thefront group optical axis AX3 of the substrate SB2, is r3.

FIG. 5 is a view which is bilaterally symmetric relative to the straightline formed by the optical axes AX1, AX3, and p1=p2, r1=r2, p3=p4 andr3=r4.

Referring to FIG. 4, a distance between the back group optical axis AX3and the left side end portion of the substrate SB1 which is combinedwith the first wide-angle lens (the end portion on the side of the lensL21 of the second wide-angle lens) is c2.

Similarly, a distance between the back group optical axis AX4 and theright side end portion of the substrate SB2 which is combined with thesecond wide-angle lens (the end portion on the side of the lens L11 ofthe first wide-angle lens) is c4.

These distances c2, c4 are arbitrarily set if each of the imagingoptical systems is individually used. However, in the case that the twoimaging optical systems are combined as illustrated in FIGS. 4, 5, thesubstrate SB1 blocks the incident light beam of the second wide-anglelens if the distance c2 is increased.

Similarly, the substrate SB2 blocks the incident light beam of the firstwide-angle lens if the distance c4 is increased.

The distance c1+c2 is a size of the substrate SB1 in the directionparallel to the front group optical axis AX1 of the first wide-anglelens, and the distance c3+c4 is a size of the substrate SB2 in thedirection parallel to the front group optical axis AX2 of the secondwide-angle lens.

The size of the substrates SB1, SB2 can not be arbitrary set because apredetermined circuit system is mounted on the substrates SB1, SB2.

It is necessary for the substrate SB1 not to block the incident lightbeam of the second wide-angle lens and also for the substrate SB2 not toblock the incident light beam of the first wide-angle lens. To do thisthe distance between the first and second wide-angle lenses (distancebetween the reflection surfaces of the prisms P1, P2) is adjusted byusing a spacer SP. Namely, this adjustment corresponds to the adjustmentof the distance D in the above description in FIGS. 1-3.

In the case of constituting the omnidirectional imaging device bycombining two imaging optical systems, the front groups of thewide-angle lenses of the imaging optical systems are placed to faceopposite directions to each other and the back groups of the wide-anglelenses of the imaging optical systems are placed to face oppositedirections to each other, the optical axes AX1, AX2 of the front groupof the wide-angle lenses are located on the same straight line, thereflection surfaces face each other, and the distance between thereflection surface portions is set such that the substrate on which theimaging sensor of one imaging optical system is mounted does not blockthe incident light beam to the wide-angle lens of another imagingoptical system.

In the case of actually manufacturing the omnidirectional imagingdevice, the structure in which the optical system, imaging sensor,substrate and the spacer are combined as illustrated in FIGS. 1, 2 ishoused in the housing of the device, but the housing is arranged betweenthe end portion of the substrate and the light beam of the maximum angleof view.

As described above, it is preferable for the thickness of the housing tobe preferably 1.5 mm or more, or more preferably 2.0 mm or more.

EXAMPLE

Hereinafter, a specific example will be described.

One specific example of the wide-angle lens constituted by the sevenlenses and the prism with reference to FIGS. 4, 5 is as follows.

In the following example, f is a focal length of an entire system, No isan F-number and ω is a full angle of view.

The surface numbers are sequentially 1-23 from the object side, andillustrate a lens surface, incident and emission surfaces and areflection surface of a prism, an aperture stop surface and a surface ofan IR filter and a light-receiving surface of an imaging sensor.

R is a curvature radius of each surface, and is a paraxial curvatureradius in an aspheric surface.

D is a surface interval, Nd is a refractive line of d-line, and νd is anAbbe's number. The object distance is infinity. The unit of the lengthis mm.

EXAMPLE

f = 0.75, No = 2.14, ω = 190 DEGREES SURFACE NUMBER R D Nd νd  1 17.11.2 1.834807 42.725324  2 7.4 2.27  3* −1809 0.8 1.531131 55.753858  4*4.58 2  5 17.1 0.7 1.639999 60.078127  6 2.5 1.6  7 ∞ 0.3  8 ∞ 51.834000 37.160487  9 ∞ 1.92 10 ∞ (APERTURE STOP) 0.15 11 93.2 1.061.922860 18.896912 12 −6.56 1.1 13 ∞ −0.1 14 3.37 1.86 1.75499852.321434 15 −3 0.7 1.922860 18.896912 16 3 0.3 17* 2.7 1.97 1.53113155.753858 18* −2.19 0.8 19 ∞ 0.4 1.516330 64.142022 20 ∞ 0 21 ∞ 0.31.516330 64.142022 22 ∞ 0.3 23 IMAGING SURFACE[Aspheric Surface]

Surfaces having * (both surfaces of second lens in front group and bothsurfaces of final lens in back group) in the above data are asphericsurfaces.

An aspheric surface shape is expressed by the following known equationby using an inverse of a paraxial curvature radius (paraxial curvature)C, a height from an optical axis H, a conical constant K, and anaspheric surface coefficient of each order with X as the asphericsurface amount in the optical axis direction, and is defined byproviding the paraxial curvature radius, conical constant and asphericsurface coefficient.X=CH ²/[1+√{1−(1+K)C ² H ²}]+A4·H ⁴ +A6·H ⁶ +A8·H ⁸ +A10·H ¹⁰ +A12·H ¹²+A14·H ¹⁴

The aspheric surface data of the above example is as follows.

4th, 6th, 8th, 10th, 12th, 14th are A4-A14 of even-ordered asphericcoefficients after 4th order.

Third Surface

-   -   4th: 0.001612    -   6th: −5.66534e−6    -   8th: −1.99066e−7    -   10th: 3.69959e−10    -   12th: 6.47915e−12        Fourth Surface    -   4th: −0.00211    -   6th: 1.66793e−4    -   8th: 9.34249e−6    -   10th: −4.44101e−7    -   12th: −2.96463e−10        Seventeenth Surface    -   4th: −0.006934    -   6th: −1.10559e−3    -   8th: 5.33603e−4    -   10th: −1.09372e−4    -   12th: 1.80753-5    -   14th: −1.52252e−7        Eighteenth Surface    -   4th: 0.041954    -   6th: −2.99841e−3    -   8th: −4.27219e−4    -   10th: 3.426519e−4    -   12th: −7.19338e−6    -   14th: −1.69417e−7

In the above aspheric surface data, for example, −1.69417e-7 means−1.69417×10⁻⁷.

The optical path length of the light beam passing through the center ofthe wide-angle lens having an angle of view over 180 degrees and thelight beam passing through the peripheral of the wide-angle lens havingan angle of view over 180 degrees change according to a differencebetween the thicknesses of the lens. Such a change deteriorates aperformance. In the wide-angle lens of the example, the second lensoften has a difference between a thickness near the optical axis and athickness in the peripheral portion in the three lenses. The second lensis corrected by using aspheric surfaces on both surfaces as a plasticlens.

The aberrations occurring in the lenses on the object side of the lastlens of the back group can be preferably corrected by using asphericsurfaces on both surfaces of the last lens of the back group as aplastic lens.

By cementing the second biconvex lens and the third biconcave lens inthe four lenses of the back group, the chromatic aberration ispreferably corrected.

The spherical aberration and the field curvature of the wide-angle lensof the example are illustrated in FIGS. 6, 7, respectively.

FIG. 8 illustrates the coma aberration.

FIGS. 9, 10 are view each illustrating an OTF feature. The horizontalaxis illustrates spatial frequency in FIG. 9 and half angle of view bydegree in FIG. 10.

As is apparent from these figures, the performance of the wide-anglelens of the example is extremely high.

The imaging sensor and the substrate are combined to the wide-angle lensto obtain the imaging optical system, and the same two imaging opticalsystems are combined as illustrated in FIGS. 4, 5.

Each of the distances illustrated in FIG. 4 is as follows.

a1=a3=7.96 mm, b1=b3=2.84 mm, and c1=c3=5.00 mm. The angle of view F is190 degrees, and the above conditions (1), (2) are satisfied, and thecorner portion of the substrate does not block the imaging light beam.

The distance a2 (the distance between the incident position of themaximum incident angle light beam in the second wide-angle lens and theback group optical axis of the first wide-angle lens), the distance a4(the distance between the incident position of the maximum incidentangle light beam in the first wide-angle lens and the back group opticalaxis of the second wide-angle lens=a2), and the distance b1 (=b3) andthe distance c2 (=c4) are a2=17.98 mm, b1=2.84 mm, and c2=11.00 mm. Theangle of view F is 190 degrees, the substrate SB1 does not block theincident light beam to the second wide-angle lens and the substrate SB2does not block the incident light beam to the first wide-angle lens.

The values of the distances in FIG. 5 are as follows.

p1 (=p2=p3=p4)=10.3 mm, q1=2.86 mm, q3=6.98 mm, r1 (=r2=r3=r4)=10.0 mm.

The wide-angle lens of the above example includes, in order from theobject side to the image side, a meniscus lens having a negativerefractive power, an aspheric surface meniscus lens having a negativerefractive power, a negative meniscus lens, a prism having an inclinedsurface as an internal reflection surface, an aperture stop, a biconvexlens having a positive refractive power, a cemented lens of a biconvexlens having a positive refractive power and a biconcave lens having anegative refractive power and a biconvex lens having a positiverefractive power. The meniscus lens having a negative refractive power,the aspheric surface meniscus lens having a negative refractive powerand the negative meniscus lens constitute the front group. The biconvexlens having a positive refractive power, the cemented lens of thebiconvex lens having a positive refractive power and the biconcave lenshaving a negative refractive power, and the biconvex lens having apositive refractive power constitute the back group. A distance from themost object side surface of the front group to the internal reflectionsurface LF and a distance from the internal reflection surface to themost image side surface of the back group LR satisfy the followingcondition (3).LF<LR  (3)

Since the omnidirectional imaging device in the above embodiment isconstituted by combining the two wide-angle lenses of the aboveconstitution, the omnidiretional imaging device can be downsized.

FIG. 11A is a view illustrating an omnidirectional imaging device inwhich the same two wide-angle lenses (the wide-angle lenses of the aboveexample without the prism) without bending the optical path by areflection surface are combined as the wide-angle lenses LWA, LWB.

The images by the two wide-angle lenses LWA, LWB are received by notshown imaging sensors, respectively, sent to an image processor 2, andsynthesized to an omnidirectional image as an image in a 4π radian solidangle in the image processor 2.

The synthesized omnidirectional image is displayed on a display 3.

The wide-angle lenses LWA, LWB do not bend the optical paths, so thatthe distance from the most object side lens of the front group to theimage surface R1 is long. A distance between the position where theincident light beams of the maximum angle of view of the wide anglelenses LWA, LWB intersect and the lens diameter optical axis is L1. Theobject in a distance smaller than the distance L1 is not imaged.

FIG. 11B is a view illustrating an omnidirectional imaging device inwhich the wide-angle lenses of the above example are combined as twowide-angle lenses LW1, LW2 (corresponding to the wide-angle lenses A0,B0 in FIG. 1).

Since the optical axes of the wide-angle lenses are bent, the distance2R2 between the most object side lenses of the front groups is reduced,and the distance between the position where the incident light beams ofthe maximum angle of view of the two wide angle lenses intersect and thefront group optical axis L2 is reduced.

The above distances R1, L1, R2, L2 are expressed as follows by using theangle of view F of the wide-angle lens.L1=−R1·tan(F/2)L2=−R2·tan(F/2)

The maximum angle of view of each of the wide-angle lenses LWA, LWB,LW1, LW2 is 190 degrees.

In the constitution illustrated in FIG. 11A, R1=20 mm, L1=229 mm. In theconstitution illustrated in FIG. 11B, R2=12.5 mm and L2=142.8 mm.

Therefore, an omnidirectional image to a further closed distance can beimaged while downsizing the imaging optical system.

In the example illustrated in FIG. 11B, a part of the light beam isblocked by the image processor 2. This portion becomes a portion to beheld by hand in the case of constituting a portable omnidirectionalimaging device. For this reason, there is no problem if the image ofthis portion is not imaged. This portion can be set in a non-imagedspace by downsizing the image processor 2.

Hereinafter, an embodiment in which the imaging system is used as anomnidirectional imaging device will be described.

For the purpose of simplifying the description, the sane referencenumbers as those in FIG. 1 are used.

In FIG. 12, reference number L1A denotes a lens, P denotes a prism, andL2A denotes a lens. These lens L1A, prism P, and lens L2A constitute anoptical system. Reference number ISA denotes an imaging element, and SBAdenotes a substrate on which the imaging element ISA is mounted.

Such an optical system, imaging element ISA and substrate SBA constituteone imaging body. Similarly, reference number L1B denotes a lens, Pdenotes a prism and L2B denotes a lens. These lens L1B, prism P and lensL2B constitute the optical system. Reference number ISB denotes animaging element and reference number SBB denotes a substrate on whichthe imaging element ISB is mounted.

Such an optical system, imaging element ISB and substrate SBB constituteanother imaging body.

Namely, the imaging system in FIG. 12 includes two imaging bodies eachhaving an optical system and an imaging element which converts lightcondensed by the optical system into image signals.

The prism P is a reflection member, and is used for both of the opticalsystems of the two imaging bodies.

The lenses L1A, L1B are illustrated by simplifying the lenses on theobject side of the reflection member P in the optical system. Similarly,the lenses L2A, L2B are illustrated by simplifying the lenses on theimage side of the reflection member P in the optical system. Each of thelenses L1A, L1B generally includes a plurality of lenses.

These optical systems are the same. For example, the above-describedoptical systems can be used.

The imaging elements ISA, ISB are the same as the above-describedimaging sensors. The maximum angle of view in the optical system of eachimaging body is F. F/2 in FIG. 12 denotes a half angle of view accordingto the maximum angle of view.

Regarding each of the optical systems constituted by the lenses L1A, L2Aand prism P as illustrated in FIG. 12, a distance from the incidentlight beam position at the maximum angle of view in the optical systemto the reflection position of the prism P at center angle of view in theoptical system is a1, a3, a distance from the incident light beamposition at the maximum angle of view to the surface of the sensor isb1, b3 and a distance from the center of the sensor of the substrateSBA, SBB to the substrate end on the incident light beam side is c1, c3.

The following condition (4) should be satisfied for each optical systemwhere the maximum angle of view of the optical system of the imagingbody is F, a distance from the incident light beam position at themaximum angle of view in the optical system to the reflection positionon the reflection member at a center angle of view in the optical systemis a, a distance from the incident light beam position at the maximumangle of view to the imaging element is b, and a distance from thecenter of the imaging device in the substrate provided with the imagingelement to the end of the substrate is c.c≤a+b/tan(F/2)  (4)

Regarding the optical system constituted by the lenses L1A, L2A and theprism P, the distance a is a1, a3, the distance b is b1, b3 and thedistance c is c1, c3.

The specific numerical values are as follows.

-   -   a1=a3=7.96 mm    -   b1=b3=2.84 mm    -   c1=c3=5.50 mm

The maximum angle of view F is 190 degrees (namely, F/2=95 degrees, tan(F/2)=−11.43).

If the above values are substituted into the condition (4), thecondition (4) is satisfied as follows.5.5≤7.96−2.84/11.43≈7.96−0.248=7.71

Namely, the maximum angle of view light beam entering in the lens L1A isnot blocked by the end portions of the substrates SBA, SBB on the lensL1A side.

Similarly, regarding each of the optical system constituted by thelenses L1B, L2B and prism P, a distance from the incident light beamposition at the maximum angle of view in the optical system to thereflection position of the prism P at a center angle of view in theoptical system is a2, a4, a distance from the incident light beamposition at the maximum angle of view to the surface of the sensor isb2, b4 and a distance from the center of the sensor of the substratesSBA, SBB to the substrate end on the incident light beam side is c2, c4.

Regarding the optical system constituted by the lenses L1B, L2B and theprism P, in the condition (4), the distance a is a2, a4, the distance bis b2, b4 and the distance c is c2, c4.

The specific numerical values are as follows.

-   -   a2=a4=7.96 mm    -   b2=b4=2.84 mm    -   c2=c4=5.50 mm

The maximum angle of view F is 190 degrees (namely, F/2=95 degrees, tan(F/2)=−11.43).

If the above values are substituted into the condition (4), thecondition (4) is satisfied as follows.5.50≤7.96−2.84/11.43≈7.96−0.248=7.71

Accordingly, the maximum angle of view light beam entering in the lensL1B is not blocked by the end portions of the substrates SBA, SBB on thelens L1B side.

It is further preferable for the distance between the end portions ofthe substrates SBA, SBB and the maximum angle of view light beam to be 2mm or more. This is because the housing of the imaging system isdisposed between the end portion of the substrate and the maximum angleof view light beam, and also this is because the housing requires athickness of 2.0 mm or more for producing the housing made of metal or aresin cover.

In the above-described example, the left side value of the followingcondition (5) becomes 7.71−5.50=2.21, and the following condition (5) issatisfied.a+b/tan(F/2)−c≥2.0 [mm]  (5)

Namely, a thickness of 2.0 mm of the housing is ensured.

Similarly, in an embodiment illustrated in FIG. 13, reference number L1Adenotes a lens, P denotes a prism, and L2A denotes a lens. These lensL1A, prism P and lens L2A constitute an optical system. Reference numberSB1 denotes a substrate on which a not shown imaging element is mounted.

Reference number L1B denotes a lens, P denotes a prism, and L2B denotesa lens. These lens L1B, prism P and lens L2B constitute an opticalsystem. Reference number SB2 denotes a substrate on which an imagingelement ISB is mounted.

The imaging system illustrated in FIG. 13 includes two imaging bodieseach having the optical system, and the imaging element which convertslight condensed by the optical system into image signals.

The prism P is a reflection member, and is used for both of the opticalsystems of the two imaging bodies.

The lenses L1A, L1B are illustrated by simplifying the lenses on theobject side of the reflection member P in the optical system, and thelenses L2A, L2B are also illustrated by simplifying the lenses on theimage side of the reflection member P in the optical system. The lensesL2A, L2B are overlapped to each other in the direction orthogonal to thefigure. The substrates SB1, SB2 are also overlapped in the same manner.

The two optical systems are the same. For example, the above-describedexample of the optical system can be used.

The imaging elements ISA, ISB are similar to the above-described imagingsensors.

The maximum angle of view in the optical system of each imaging body isF. F/2 in FIG. 13 is a half angle of view according to the maximum angleof view.

As illustrated in FIG. 13, a distance from the incident light beamposition at the maximum angle of view in the lens L1A to the incidentlight beam position at a center angle of view in the optical system isp1, p2, a distance from the incident light beam position at the maximumangle of view in the lens L1A to the end portion of the substrate SB1 isq1, q2 and a distance from the center of the imaging element of thesubstrate SB1 to the end of the substrate is r1, r2.

A distance from the incident light beam position at the maximum angle ofview in the lens L1B to the incident light beam position at a centerangle of view in the optical system is p3, p4 and a distance from theincident light beam position at the maximum angle of view in the lensL1B to the end portion of the substrate SB2 is q3, q4, and a distancefrom the center of the imaging element of the substrate SB2 to the endof the substrate is r3, r4.

The following condition (6) should be satisfied for each optical systemwhere the maximum angle of view of the optical system of the imagingbody is F (degree), a distance from the incident light beam position atthe maximum angle of view in the optical system to the incident lightbeam position at a center angle of view in the optical system is p, adistance from the incident light beam position at the maximum angle ofview to the end surface of the substrate is q and a distance from thecenter of the imaging element on the substrate provided with the imagingelement to the end of the substrate is r.r≥p−q/tan(F/2)  (6)

Regarding the optical system constituted by the lens L1A, L2A and prismP, the distance p is p1, p2, the distance q is q1, q2 and the distance ris r1, r2.

The specific numerical values are p1=p2=10.3 mm, q1=q2=2.4 mm, andr1=r2=9.0 mm, and F=190 degrees, so that the condition (6) is satisfied.

Namely, the condition (6) becomes as follows relative to p1, p2, q1, q2,r1, r2, and the condition (6) is satisfied.9.0≤10.3+(2.4/11.43)≈10.51

Similarly, regarding the optical system constituted by the lens L1B, L2Band prism P, the distance p is p3, p4, the distance q is q3, q4 and thedistance r is r3, r4.

The specific numerical values are p3=p4=10.3 mm, q3=q4=6.98 mm, andr3=r4=9.0 mm, and F=190 degrees, so that the condition (6) is satisfied.

Namely, the condition (6) becomes as follows relative to p3, p4, q3, q4,r3, r4, and the condition (6) is satisfied.9.0≤10.3+(6.98/11.43)≈10.91

In these cases, the following condition (7) is satisfied where themaximum angle of view of the optical system of the imaging body is F(degree), a distance from the incident light beam position at themaximum angle of view in the optical system to the incident light beamposition at center angle of view in the optical system is p, a distancefrom the incident light beam position at the maximum angle of view tothe end surface of the substrate is q, and a distance from the center ofthe imaging element in the substrate provided with the imaging elementto the end of the substrate is r.p−q/tan(F/2)−r≥1.5 [mm]  (7)

Namely, relative to p=p1=p2=10.3 mm, q=q1=q2=2.4 mm, r=r1=r2=9.0 mm, thecondition (7) becomes 10.51−9.0=1.51>1.5.

Moreover, relative to p=p3=p4=10.3 mm, q=q3=q4=6.98 mm, r=r3=r4=9.0 mm,the condition (7) becomes 10.91−9.0=1.91>1.5.

More specifically, the maximum angle of view light beam entering in thelens L1A is not blocked by the end portions of the substrates SB1, SB2on the lens L1A side, and the maximum angle of view light beam enteringin the lens L1B is not blocked by the end portions of the substratesSB1, SB2 on the lens L1B side.

The omnidirectional imaging device has a space relative to the thicknessof the housing.

In the embodiments illustrated in FIGS. 12, 13, the prism P is providedin the optical system.

With this constitution, the width of the device can be reduced comparedto an imaging body in which the optical axis of the lens system is notbent. A mirror can be used for the reflection member, but the prism ispreferable. By using the prism, the reflection member includes both of afunction as a lens by the bending of the prism and a reflectionfunction. Thus, the number of lenses of the entire optical system can bereduced. As a result, the width of the imaging body can be reduced byusing the prism. Moreover, sensitivity relative to the tilt of thereflection member is lowered by using the prism. Thus, a change in asubstrate position due to variations in an attachment position of aprism can be controlled.

In the embodiments illustrated in FIGS. 12, 13, the above example isused for the optical system. The optical system includes a first lensgroup having a negative power arranged on the object side and a secondlens group arranged on the image side. At least one of the first andsecond lens groups includes an aspheric surface lens.

With this constitution, the diameter of the lens can be reduced comparedto the optical system using only a spherical lens. In the specificexample, the aspheric surface lens is used for both of the second lensof the first lens group and the fourth lens of the second lens group.

The image information output from respective image sensors issynthesized in a not shown image processor, and is processed as oneimage.

The image processor connects respective images from 0 to 180-degreeangle of view to be used for a final image. The connected image can beformed from the positional relationship of the two imaging bodies. Theportions where the images become the same as each other, namely, theimages from 180-190 degrees can be used as reference data for connectingboth images.

Therefore, the images can be accurately connected even if the positionalrelationship of the two imaging bodies is changed due to environmentaltemperature.

Accordingly, an omnidirectional image can be displayed.

As described above, a new imaging optical system, omnidirectionalimaging device and imaging system can be achieved. In each of theimaging optical systems of the omnidirectional imaging device, theincident light beam to the wide-angle lens is not blocked by thesubstrate provided with the imaging sensor. The incident light beam tothe optical system in the imaging system is not blocked by the substrateprovided with the imaging element.

In the wide-angle lenses of the two imaging optical systems for use inthe omnidirectional imaging device, the imaging optical path is bent at90 degrees by the reflection surface, so that the distance between thefirst lenses of the front groups which face opposite directions to eachother can be reduced; thus, the omnidirectional imaging device can bedownsized.

What is claimed is:
 1. An imaging system, comprising: two imaging bodies, each imaging body of the two imaging bodies including: an optical system including a reflection member, a first lens group and a second lens group, the first lens group arranged on an object side and the second lens group is arranged on an image side; and an imaging element configured to change light condensed by the optical system into an image signal, the imaging element being disposed on a substrate, wherein at least one of the first and second lens groups includes an aspheric surface lens, each imaging body satisfies the following first condition: c≤a+b/tan(F/2), where F is a maximum angle of view (degree) of the optical system of the imaging body, a is a distance from an incident light beam position at the maximum angle of view in the optical system to a reflection position on the reflection member at a center angle of view in the optical system, b is a distance from the incident light beam position at the maximum angle of view to the imaging element, and c is a distance from a center of the imaging element in the substrate provided with the imaging element to an end of the substrate, each imaging body satisfies the following second condition: LF<LR, where LF is a first distance from a first surface to a reflection surface, the first surface of the first lens group and being closest to the object side, and LR is a second distance from a second surface to the reflection surface, the second surface of the second lens group and being closest to the image side, the two imaging bodies include a common housing, a part of the common housing is arranged between the substrate and the incident light beam position at the maximum angle of view, and each imaging element and the substrate are housed in the common housing.
 2. The imaging system according to claim 1, wherein each imaging body further satisfies the following condition: a+b/tan(F/2)−c≥2.0 [mm].
 3. An imaging system, comprising: two or more imaging bodies, each imaging body of the two imaging bodies including: an optical system including a reflection member, a first lens group and a second lens group, the first lens group arranged on an object side and the second lens group is arranged on an image side; and an imaging element configured to change light condensed by the optical system into an image signal, the imaging element being disposed on a substrate, wherein at least one of the first and second lens groups includes an aspheric surface lens, each imaging body satisfies the following first condition: r≤p−q/tan(F/2), where F is a maximum angle of view (degree) of the optical system of the imaging body, p is a distance from an incident light beam position at the maximum angle of view in the optical system to an incident light beam position at a center angle of view in the optical system, q is a distance from the incident light beam position at the maximum angle of view to an end surface of the substrate, and r is a distance from a center of the imaging element on the substrate provided with the imaging element to an end of the substrate, each imaging body satisfies the following second condition: LF<LR, where LF is a first distance from a first surface to a reflection surface, the first surface of the first lens group and being closest to the object side, and LR is a second distance from a second surface to the reflection surface, the second surface of the second lens group and being closest to the image side, the two or more imaging bodies include a common housing, a part of the common housing is arranged between the substrate and the incident light beam position at the maximum angle of view, and each imaging element and the substrate are housed in the common housing.
 4. The imaging system according to claim 3, wherein each imaging body further satisfies the following condition: p−q/tan(F/2)−r≥1.5 [mm].
 5. The imaging system according to claim 1, wherein the reflection member is a prism.
 6. The imaging system according to claim 5, wherein an aperture stop is arranged on an image side of the prism.
 7. The imaging system according to claim 1, further comprising a function which connects a plurality of images by the imaging bodies next to each other in a plurality of imaging bodies with reference to the same images in the respective images so as to display an omnidirectional image. 